The Autonomous Systems Laboratory is in the midst of developing an advanced underwater robotic technology test platform. The platform consists of the Omni-Directional Intelligent Navigator (ODIN) and the Integrated Graphic Workstation (IGW). ODIN is a six degree-of-freedom (dof) underwater vehicle with dual operational modes (autonomous and tethered) and a single dof mechanical manipulator. IGW is a real-time, 3-dimensional graphic monitoring, testing, and evaluation workstation. This paper presents ODIN's mechanical and electrical specifications; its vehicle dynamics and depth control system; its recent simulation and experimental results; and IGW's specifications.>
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Choi et al. (1995) studied this question.
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